Method for wind turbine yaw control

ABSTRACT

A method for yaw control for a wind turbine comprising a rotor with a rotor blade, the rotor defining a rotor axis and a rotor plane to which the rotor axis is perpendicular, in which the rotor axis is turned to minimise the yaw angle between the ambient wind direction and the rotor axis is provided, wherein the turning of the rotor axis is performed based on the measurement of a wind speed in the rotor plane at the rotor blade. Furthermore, a wind turbine which comprises a rotor which includes a rotor axis and a rotor plane perpendicular to the rotor axis and an anemometer for measuring the ambient wind speed is provided. The wind turbine further comprises an anemometer which is located such at a rotor blade at a particular distance from the rotor axis as to allow for measuring a wind speed in the rotor plane.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.12/218,715 filed Jul. 17, 2008, which claims priority of European PatentOffice application No. 07014330.0 EP filed Jul. 20, 2007. All of thedocuments are incorporated by reference herein in their entirety.

FIELD OF INVENTION

The present invention relates to a method for yaw control of a windturbine.

BACKGROUND OF INVENTION

Many wind turbines comprise a rotor with its axis in a horizontalposition. Wind turbines with horizontal axis require yawing. The yawangle error is the angle between the rotor axis and the wind direction.To achieve maximum capacity of the wind turbine the rotor axis should beparallel to the wind direction. This means that the yaw angle error hasa value of 0°. In this consideration, a vertical tilt angle many rotoraxes have in order to prevent the blades from touching the tower at highwind speeds and which, strictly speaking, means that the rotor axis isactually slightly off the parallel orientation, is neglected.

During the yawing process the turbine nacelle is turned around avertical axis until the rotor axis is, except for a possible verticaltilt angle, parallel to the wind direction. Usually the yaw axis isconcentric with the wind turbine tower axis. Yawing is normally carriedout by electrical or hydraulic means. The yaw drive unit control isbased on a measurement of the wind direction by one or more winddirection sensors placed on the turbine nacelle.

When the wind direction sensors are located on the turbine nacelle ofthe wind turbine with a rotor placed upwind of the tower, the winddirection sensors are not exposed to free, undisturbed wind. Instead,the wind has passed through the rotor and may be distorted by this rotorpassage and by speed-up phenomena around the nacelle itself. Such adistortion is usually a function of wind speed, turbulence, winddirection and vertical wind inclination. Consequently, the yaw alignmentof the rotor axis with the wind direction is associated with someuncertainty when carrying out yaw control based on nacelle-mounted winddirection sensors.

At low and medium wind speeds the power output is sensitive to properyaw alignment. It is generally believed that on wind turbines therelationship between yaw alignment and power output is a cosine-squarefunction, rather than a simple cosine function, as would be expected.The reason for this high sensitivity is related to the downwind wakebehaviour of the wind turbine.

If the cosine-square relationship is valid, a 5° yaw angle errorcorresponds to a power output of cos²(5°)=0.99, which means a 1% loss ofpower. While a loss of this magnitude may sound marginal, it easily runsinto more than 100,000 kWh annually for a large wind turbine.Furthermore, yaw angle errors create higher dynamic loading on the windturbine structure which is an unwanted phenomenon.

SUMMARY OF INVENTION

Up to now the problem of yaw alignment has been solved by propercalibration of nacelle-mounted wind direction sensors. During typetesting the yaw alignment of the wind turbine is measured by acomparison of the yaw direction with the wind direction measured at afree-standing meteorological mast. Any offset can be adjusted bypermanent adjustment of the wind direction sensor mounting brackets. Anydependence on wind speed can be adjusted by implementing suitablecorrection algorithms in the turbine controller.

However, some difficulties occur in this traditional approach. At firstthe traditional method is sensitive to tolerances in the baselinemeasurements, for example the calibration of the wind directionmeasurement of the instruments mounted at the free-standingmeteorological mast, the calibration of the yaw direction measured at atest turbine and the accuracy of the test turbine brackets for thenacelle-mounted wind direction sensors. Further, the accuracy of yawingwill always be a function of the accuracy of the mounting of the sensorson the individual turbines in the field. Moreover, the flow distortionin the field may be different from the flow distortion in the testturbine, for instance, as a result of differences in nacelle equipmentthat may affect speed-up characteristics over the nacelle anddifferences in ambient flow conditions. Typically, differences innacelle equipment may occur on aerial warning lights. Differences inambient flow conditions may be, for instance, turbulence or flowinclination, for example due to landscape features at the turbine'slocation.

In an attempt to address these issues the mounting of instruments onfront of the nacelle has been tried. Various methods have been tried butthe simplest method is to move the wind direction sensors on a bracketthat is located in the rotor axis in front of the rotor hub. Thisarrangement requires a hollow turbine shaft. The instrument bracket isfitted to a bearing at the rotor hub and a torque tube through thehollow rotor shaft ensures that the instruments do not rotate with therotor hub.

This solution solves the issue of flow distortion but it retains thedifficulties of sensitivity to tolerances in the baseline measurementsand the dependence on the accuracy of sensor mounting. It is verydifficult to achieve an uncertainty in the order of ±5° when all theelements of the uncertainty are taken into account. Furthermore, thesolution of the flow distortion problem is paid in the location of thewind direction sensors in a position that is very difficult to access.This causes difficulties regarding maintenance and repair. A furtherresult is a rather complex arrangement of bearings and torque tubes.

A more advanced method uses a set of instruments, typically in the formof a two- or three-axis ultrasonic anemometer, which is located in therotor axis in front of the rotor hub. Since this type of instrument maybe allowed to rotate with the rotor hub, no hollow turbine shaft ortorque tube are required.

This solution solves the issue of flow distortion and it also has thepotential of partially solving the issue of sensitivity to tolerances inthe baseline measurements. However, some flow distortion may exist, dueto the dynamical pressure in front of the hub, even in front of therotor at the rotor axis and the solution of the flow distortion issue isagain paid with the location of the wind direction sensors in a positionthat is very difficult to access, resulting in difficulties in relationto maintenance and repair.

In GB 2 067 247 A a device for determining the wind energy in order tocontrol wind generators, especially in order to align the position ofthe plane of rotation of the rotor in relation to the air flow, isdisclosed. The wind energy at the rotor plane is controlled with the aidof a pressure difference measured by probes, wherein the pressure probesare arranged at the surface of the rotor blades.

In U.S. 2004/0201220 A1 an aerodynamic control system for a wind turbineincluding a drive shaft and blade is disclosed. The control systemincludes an air control system coupled to a duct that extends from afirst end toward a second end of the blade. A slot extends along aportion of a surface of the blade and is in communication with the duct.An instrument measures operating data of the wind turbine. A controllercollects the operating data and compares them to predetermined operatingnorms. The controller actuates the air control system to urgepressurised air into the duct and out of the slot at a specific air flowrate based upon the comparison between the operating data andpredetermined operating norms. Control of the flow rate aids in captureof power from the wind flowing through a swept area of the wind turbine.

In DE 201 14 351 U1 a device for determining a wind vector is disclosed.The device can especially be used for a wind turbine.

In WO 2005/093435 A1 an apparatus and a method used to determine thespeed and direction of the wind experienced by a wind turbine areprovided. Said apparatus comprises at least one sensor fixed to therotor of said wind turbine, an angular sensor to measure the angularposition of the rotor of said wind turbine, and a circuit which convertsthe relationship between the output of said at least one sensor and theoutput of the angular sensor into the speed and direction of the windexperienced by the wind turbine. The sensing apparatus can measure thewind speed and direction in three dimensions.

Given this state of the art, it is an objective of the present inventionto provide an advantageous method for yaw control of a wind turbine. Itis a further objective of the present invention to provide anadvantageous wind turbine.

These objectives are solved by a method for yaw control and a windturbine as claimed in the independent claims. The depending claimsdefine further developments of the invention.

The inventive method for yaw control relates to a wind turbine whichcomprises a rotor with at least one rotor blade. The rotor defines arotor axis and a rotor plane to which the rotor axis is perpendicular.In order to minimise the yaw angle error between the wind direction andthe rotor axis the rotor axis is turned. The turning of the rotor axisis performed based on the measurement of a wind speed in the rotor planeat at least one rotor blade. The turning of the rotor axis is furtherperformed based on a measured periodic variation of the wind speed inthe rotor plane during a rotation period of the rotor. The measurementof a wind speed in the rotor plane at a rotor blade, instead of ameasurement at the rotor axis or at the nacelle, avoids the influence offlow distortion that may occur in front of the rotor at the rotor axisor at the nacelle. In addition, the location of the turbine blade iseasier to access than a location at the rotor hub.

The inventive method, which is based on a measurement of the local windspeed on one or more wind turbine blades, allows it to measure aperiodic variation of the wind speed if the turbine is not alignedproperly with the wind direction. This is irrespective of the type ofwind speed sensor used. The measured periodic variation is a function ofthe yaw angle error and consequently it may be used for yaw controlpurposes. The use of a wind speed measurement at the rotor blade for yawcontrol purposes avoids the difficulties which may occur if winddirection sensors are located, for instance, at the rotor axis.

Using the inventive method, the accuracy of the yaw angle errordetection increases with increasing wind speed. This is particularlyimportant in relation to the reduction of dynamic load on the windturbine structure.

Furthermore, the inventive method and the inventive wind turbine, whichwill be described later, are insensitive to tolerances in any baselinemeasurements simply because no baseline measurements are required.Moreover, they are insensitive to the accuracy of the mounting of thesensors on the individual turbines in the field since inaccuracy willonly result in a small change in gain in the regulation loop and not inany deviation of the observation of true alignment. The inventive methodis insensitive to flow distortion and measures the yaw angle error whereit matters, that is, in the rotor plane. The advantage of the inventivemethod for yaw control is that it maximises the energy output andminimises the dynamic loading on the wind turbine structure.

Preferably, the measured wind speed may be the speed of the relativewind in the rotation direction of at least one rotor blade. The turningof the rotor axis is performed based on a periodic variation of the windspeed in the rotor plane during a rotation period of the rotor. Thisprovides a very simple and precise method for yaw control. A periodicvariation of the wind speed in the rotor plane during a rotation periodof the rotor is caused by a horizontal component of the ambient windspeed in the rotor plane. The ambient wind speed has a component in therotor plane if the ambient wind direction and the rotor axis are notparallel to each other, i.e. if a yaw angle error occurs. If the ambientwind direction and the rotor axis are parallel to each other then theperiodic variation of the wind speed in the rotor plane during arotation period of the rotor vanishes. This means that the rotor axismay be turned until the periodic variation is minimal or vanishes. Therotor may then be held in this position until the periodic variationincreases again. Upon an increase of the variation, the rotor is againturned until the variation becomes minimal or vanishes.

The direction in which the rotor is to be turned in order to minimisethe periodic variation can be determined from the phase of the variationwith respect to the rotor's azimuth.

Moreover, the turning of the rotor axis may also be performed based on ameasurement of the ambient wind speed and a measurement of the speed ofthe relative wind in the rotor plane. Also measuring the ambient windspeed allows for the exact determination of the yaw angle error α.Concerning the present invention, a selective measurement of the speedof the relative wind in the rotor plane in a horizontal direction, i.e.a measurement of the component of the wind speed along a horizontaldirection which is perpendicular to the rotor axis and perpendicular tothe vertical axis of the wind turbine tower would, in principle, beenough to determine the yaw angle error. This can be achieved by asuitable triggering of the measurement in relation to the rotor'sazimuth. The yaw angle error α can then easily be determined by means ofthe measured ambient wind speed w and the speed of the relative wind inthe rotor plane in a horizontal direction. The ambient wind w speed canbe measured by means of an anemometer which is located at the rotoraxis, at the turbine nacelle, at the wind turbine rotor blade or at aseparate tower which is located such as to be influenced as little aspossible by the wake of the turbine(s). For the measurement of theambient wind speed w a single-, a two- or a three-axis anemometer may beused.

The speed of the relative wind in the rotor plane can also be measuredby means of a single-, a two- or a three-axis anemometer. The ambientwind speed w and the relative wind speed in the rotor plane mayespecially be measured by means of the same two- or three-axisanemometer. Generally the anemometer may be a pitot tube, a cupanemometer or an ultrasonic anemometer. The used anemometer oranemometers may be located on a wind turbine rotor blade in a particularangle β to the centreline of the wind turbine rotor blade. The mountingof the anemometer on a wind turbine rotor blade has the advantage thatthe anemometer is easy to access, especially for maintenance and repair.

Moreover, the distance r of the used anemometer from the rotor axis, theangle β of the anemometer to the centreline of the rotor blade, theazimuth angle θ of the anemometer, the ambient wind speed w, the speedof the relative wind in the rotor plane u and the angular velocity ω ofthe rotor can be considered in performing the turning of the rotor. Inthis case a yaw angle error α would induce a periodic signal which isgenerally given by the equation u=rωsinβ±wsinαsin(θ+β). The first termof the equation is a constant in case of a fixed angular velocity ω ofthe rotor. If there is a yaw angle error α between the rotor axis andthe ambient wind direction, then the second term of the equationperiodically varies depending on the azimuth angle θ and hence causes aperiodic variation of the speed of the relative wind measured in therotor plane u. If the yaw angle error tends to zero, then the secondterm of the equation also tends to zero and the periodic variationvanishes.

Consequently, it is possible to turn the rotor axis until the periodicvariation is minimal without an explicit determination of the yaw angle.Alternatively, the yaw angle error can explicitly be calculated and beused for turning the rotor axis about a calculated angle. If the yawangle is to be explicitly calculated, the speed of the relative wind inthe rotor plane u and/or the ambient wind speed w and/or the azimuthangle θ of the anemometer, and/or the angular velocity ω of the rotorcan advantageously be measured continuously or in time steps. Thisallows it to average the calculated data for the yaw angle error α andthus to increase the accuracy.

Preferably the angle β can be set at 90°. This means that the speed ofthe relative wind in the rotor plane in the rotation direction of therotor blade u_(t), which is tangential to the rotation circle, can bemeasured. The yaw angle error α may be determined by means of thedistance r of the anemometer and the simultaneously measured angularvelocity ω of the rotor, the azimuth angle θ of the anemometer, theambient wind speed w and the relative wind speed u_(t) in the rotorplane. In this case the equation u=rωsinβ±wsinαsin(θ+β) can besimplified into the equation u_(t)=rω±wsinαcosθ. It is again possible tomeasure the azimuth angle θ of the anemometer, the ambient wind speed w,the speed of the relative wind in the rotor plane u, which is, in thiscase, the relative wind speed in the rotation direction u_(t) and theangular velocity ω of the rotor continuously or in time steps.

An inventive wind turbine is in particularly suitable to perform theinventive method and comprises a rotor comprising a rotor axis and arotor plane perpendicular to the rotor axis. The wind turbine furthercomprises at least one anemometer which is located such at a rotor bladeat a particular distance r from the rotor axis as to allow for measuringa wind speed in the rotor plane u. At least one rotor blade is equippedwith two or more anemometers which are located at different distances rto the rotor axis. This allows for choosing between different distancesr which may influence the measurement range and therefore on theaccuracy of the yaw control. The wind turbine may also comprise afurther anemometer which is located such as to allow for a measurementof the ambient wind speed.

Generally, it is advantageous if the used anemometer is located at theleading edge of the rotor blade or at least partly at the leading edgeof the rotor blade. However, locating it at the upwind side of the bladeor such at the downwind side as to project over the leading edge is alsopossible.

The anemometer may be a single-, a two- or a three-axis anemometer. Forexample, it can be a pitot tube, a cup anemometer or an ultrasonicanemometer. If the anemometer is of a single-axis type it will onlymeasure the speed of the relative wind. If it is a two- or three-axisanemometer, e.g. a cup anemometer or an ultrasonic anemometer, it willalso measure the ambient wind.

It is also possible that each wind turbine rotor blade is equipped withat least one anemometer for measuring the component of the wind speed inthe rotor plane u. This would equalise possible loads which could occurdue to an anemometer located at a rotor blade.

BRIEF DESCRIPTION OF THE DRAWINGS

Further features, properties and advantages of the present inventionwill become clear from the following description of embodiments inconjunction with the accompanying drawings.

FIG. 1 schematically shows a wind turbine.

FIG. 2 schematically shows the relation between the yaw angle, theambient wind speed and the speed of the relative wind in the rotor planein a horizontal direction.

FIG. 3 schematically shows a part of an inventive wind turbine rotor.

FIG. 4 schematically shows an alternative positioning of an anemometeron a rotor blade.

FIG. 5 schematically shows a part of an alternatively mounted anemometeron a wind turbine rotor blade.

DETAILED DESCRIPTION OF INVENTION

The first embodiment of the inventive method and the inventive windturbine will now be described in more detail with respect to FIGS. 1 to4. FIG. 1 schematically shows an inventive wind turbine. The windturbine comprises a wind turbine tower 1 and a rotor with three rotorblades 2. The rotation of the rotor is indicated by arrows 20. Eachrotor blade 2 is equipped with an anemometer 3 which is located at aparticular distance 4 from the rotor axis. The anemometers 3 are fixedto the rotor blades 2. Alternatively, only one rotor blade 2 or tworotor blades can be equipped with an anemometer 3. Although theanemometers are shown to be located in the middle of the rotor blades 2it is actually advantageous to locate them near the root ends of theblades 2 in order to influence the blade's aerodynamics as little aspossible. In the figure the vertical direction is indicated by an arrow12 and the horizontal direction is indicated by an arrow 13.

FIG. 2 schematically shows how the yaw angle error α (indicated by thereference numeral 10) is connected to the ambient wind speed 9 and thespeed of the relative wind in the rotor plane. One can see in FIG. 2 aview onto the wind turbine from above. The wind turbine nacelle 5 andthe rotor plane are shown. The upwind side of the rotor plane isindicated by reference numeral 6 and the downwind side of the rotorplane is indicated reference numeral 7. The rotor plane, especially theupwind rotor plane 6, is located perpendicular to the rotor axis 8.

If a yaw angle error α occurs, the ambient wind speed 9 is not parallelto the rotor axis 8. This means that the speed of the relative wind inthe rotor plane as measured by the anemometer 3 periodically alternatesduring the rotation of the rotor as the ambient wind's horizontalcomponent 11 in the rotor plane adds to or subtracts from the relativewind generated by the rotor's rotational speed depending on the actualazimuth angle of the respective blade 2.

A high yaw angle error causes high amplitude of the change in therelative wind speed during the rotation of the rotor and a small yawangle causes small amplitude. Hence, the yaw angle error can beminimised by turning the rotor axis such as to minimise the periodicvariation of the measured speed of the relative wind in the rotor plane.

FIG. 3 schematically shows a part of the wind turbine rotor. The rotorcomprises a rotor hub 14 at the rotor axis and three rotor blades 2which are connected to the rotor hub 14 at the blade root 25. Each ofthe three rotor blades 2 has a centreline 16 which is shown for one ofthe three rotor blades 2. The centreline 16 connects the root 25 withthe tip 21 of the rotor blade 2.

In the present embodiment all three rotor blades 2 are equipped with ananemometer 3 which is able to measure the wind speed in at least onedirection. This direction is indicated by reference numeral 15. Theanemometer 3 is fixed to the rotor blade 2 so that the measured winddirection 15 is perpendicular to the centreline 16 of the rotor blade.This means that the β which is indicated by reference numeral 17 in FIG.3 is 90° and the speed of the relative wind in the rotation direction inthe rotor plane is measured. The angle 17 between the centreline 16 andthe measured wind direction 15 may alternatively have a different valuewhich would mean that the wind speed measured by the anemometer 3 in therotor plane would resemble only a fraction of the speed of the relativewind which is determined by the value of the angle β.

During the rotation of the rotor around the rotor axis the position ofthe individual rotor blade 2 can be indicated by the azimuth angle θ,which is indicated by reference numeral 19. The azimuth angle θ is theangle between the centreline 16 of the rotor blade 2 and the verticalaxis 18.

In a first embodiment of the inventive method, the speed of the relativewind experienced by the rotor blades is measured by means of theanemometers 3. Depending on the azimuth of the respective blade 2 thehorizontal component of the ambient wind in the rotor plane adds to orsubtracts from the relative wind experienced by the blade. In theconfiguration of the anemometer 3, as shown in FIG. 3, the horizontalcomponent of the ambient wind speed would add to the speed of therelative wind experienced by the plane 2 at an azimuth angle θ=0, i.e.when the blade shows vertically upwards, if the horizontal component ofthe ambient wind comes from the right side in FIG. 3. On the other hand,if the azimuth angle of the rotor blade 2 is 180°, i.e. the rotor bladeshows vertically downwards, the horizontal component coming from theright side in the picture would subtract from the relative windexperienced by the rotor blade 2. In general, the relative windexperienced by the blade 2 follows a cosine function with the rotorblade's azimuth as argument. The amplitude of the cosine functiondepends on the yaw angle error α of the wind turbine and follows therelationship wsin(α). Therefore, the speed of the relative wind measuredby the anemometer 3 follows the formula u=rω+wcos(θ)sin(α), where rstand for the radius of the anemometer as measured from the rotor axis,ω stand for the angular velocity of the rotor, w stands for the ambientwind speed, θ stands for the azimuth angle of the rotor blade asmeasured from vertical and α stands for the yaw angle error. The azimuthcan also be expressed based on the rotor's angular velocity as ωt.

According to this formula each anemometer 3 would measure a varying windspeed which follows a cosine function with the same frequency as therotation of the rotor. Hence, to realise yaw control the rotor axis canbe turned until a variation in the wind speed with the same frequency asthe rotational frequency of the rotor is below the measuring limits.

In the described control method, the direction in which the rotor axisis to be turned in order to reduce the yaw angle error, i.e. clockwiseor anticlockwise, can also be determined from the varying wind speedsignal. The above example has been described with the horizontalcomponent of the ambient wind in the rotor plane coming from the rightside in FIG. 3. This means that the measured speed of the relative windis at a maximum when a rotor blade is in the vertical upright position(the rotation direction of the rotor is as indicated by referencenumeral 20 in FIG. 1). If, on the other hand, the horizontal componentof the ambient wind in the rotor plane would come from the left handside in FIG. 3 the maximum in the measured speed of the relative windwould be measured when the rotor blade is showing vertically downwardsrather than vertically upwards. In other words, the cosine functionwould be phase shifted with respect to the rotor's azimuth by 180°.Therefore, by determining the phase of the varying speed of the relativewind one can establish the rotation direction in which the rotor axishas to be rotated in order to reduce the yaw angle error.

It should be noted that although the above-mentioned formula includesthe ambient wind speed, a measurement of the ambient wind speed is notstrictly necessary. In particular, the actual ambient wind speed canremain unknown if variations in the ambient wind speed have only smallamplitude as compared to the average value of the ambient wind speed ora frequency which sufficiently differs from the rotational frequency ofthe turning rotor so as to be able to distinguish between bothfrequencies. Only if such a discrimination is not possible and thevariation in the ambient wind speed is in the same order of magnitude asthe average ambient wind speed it is necessary to know the ambient windspeed.

For a modern wind turbine operating at, for instance, 15 rpm, ananemometer 3 mounted at a distance r of 3 m would measure the followingwind speeds in the upwind rotor plane at a 5° yaw angle error:

At 5 m/s ambient wind speed: u=4.7 m/s±0.4 m/s

At 15 m/s ambient wind speed: u=4.7 m/s±1.3 m/s

At 25 m/s ambient wind speed: u=4.7 m/s±2.2 m/s.

Even at a low wind speed the signal variation resulting from yaw angleerror of the same magnitude as the total uncertainty of normalinstrument mounting will give a signal variation in the order of ±10% asa function of the blade position. Since wind speed instruments caneasily be manufactured to a total uncertainty of less than ±1% of thefull scale reading, it will be possible to yaw with an accuracy that isin order of magnitude more precise than known from the systems normallyapplied to wind turbines.

In a second embodiment of the inventive method of yaw control the yawangle error is explicitly determined by the use of a measurement of theambient wind speed and a measurement of a wind speed in the rotor plane.An anemometer for measuring the ambient wind speed w, which is indicatedby the reference numeral 9, may be located upwind at the rotor axis, atthe turbine nacelle 5, at one of the wind turbine rotor blades 2 or at aseparate tower in the field. Preferably the ambient wind speed w ismeasured by at least one of the anemometers 3 which are fixed to therotor blades 2. In this case the anemometer 3 may be a two- or athree-axis anemometer. The measurement of the ambient wind speed w by atleast one anemometer 3 which is located at one of the rotor blades 2 hasthe advantage that the ambient wind speed w can be measured in nearlyundisturbed conditions. Especially turbulence caused by the wind turbinenacelle or turbulence which may occur near the rotor axis are avoided.Generally the anemometer 3 may be a pitot tube, a cup anemometer or anultrasonic anemometer.

Further, at least the speed of the relative wind in the rotor plane in ahorizontal direction u_(h) is measured by the anemometer 3. This can berealised by, for instance, only measuring the wind speed in the rotorplane if the azimuth angle θ of the respective blade 2, which isindicated by reference numeral 19, is 0° and/or 180°. In this case theyaw angle error α, which is indicated by reference numeral 10, caneasily be determined by use of the equation u_(h)=rω±wsinα. The distancer, which is indicated by reference numeral 4, of the anemometer 3measured from the rotor axis along the centreline 16 is fixed and can bemeasured when the anemometer 3 is mounted on the rotor blade 2.

Alternatively the azimuth angle θ (reference numeral 19) of theanemometer 3, the ambient wind speed w (reference numeral 9), therelative wind speed 15 in the rotor plane and the angular velocity ω ofthe rotor can be measured continuously or in time steps. In this casethe yaw angle error α (reference numeral 10) may be determined independence on the azimuth by the equation u_(t)=rω±wsinαcosθ.

An anemometer 3 located near the rotor axis, which means a smalldistance r (reference numeral 4), has the advantage that the anemometer3 is easy to reach from the wind turbine nacelle 5 or the rotor hub 14.At the same time a small distance r has the disadvantage that turbulencenear the rotor hub may affect the measurement. A larger distance r(reference numeral 4) causes less easy access to the anemometer 3, buthas the benefit that the yaw angle error measurement represents therotor average to a larger extent. Hence, the anemometer 3 is preferablylocated at a distance somewhere in the middle between the rotor hub 14and the tip 21 of the rotor blade.

FIG. 4 schematically shows an alternative positioning of the anemometer3 on the rotor blade 2. The rotor blade 2 comprises a blade root 25,where the blade is mounted to the rotor hub 14, a tip 21, a shoulder 24,a leading edge 22 and a trailing edge 23. The centreline 16 of the rotorblade connects the blade root 25 with the tip 21. The trailing edge 23connects the blade root 25 along the shoulder 24 with the tip 21. Theleading edge 22 connects the blade root 25 with the tip 21 and issituated opposite to the trailing edge 23. FIG. 4 shows a view onto theupwind side 6 of the rotor blade 2. The anemometer 3 is mounted to therotor blade 2 at the downwind side 7 and is situated near the leadingedge 22 so that it is possible to measure the relative wind speed at theleading edge 22 or in front of the leading edge 22. A furtherpossibility would be locating the anemometer directly at the leadingedge of the blade.

It is also possible to use anemometers mounted on more than one rotorblade. This has the additional benefit of redundancy and potentiallyfaster reaction. The use of two- or three-axis anemometers causes alower sensitivity to yaw angle error, since the ambient wind speed isalso measured, but has the advantage that the ambient wind speed isrecorded with the same anemometer.

In the embodiments described hitherto the angle β (reference numeral 17)of the anemometer 3 to the centreline 16 has had a value of 90°. Thismeans that the speed of the relative wind experienced by the rotor bladein the rotor plane is measured. However, the angle β (reference numeral17) of the anemometer 3 to the centreline 16 of the rotor blade can, ingeneral, have any value between 0° and 360°. In this case the yaw angleerror α (reference numeral 10) can be determined by the use of thegeneralised equation u=rωsinβ±wsinαsin(θ+β).

In a third embodiment the inventive method of yaw control and theinventive wind turbine will be described with reference to FIGS. 1, 2and 5 for the case that the angle β (reference numeral 17) between theanemometer 3 and the centreline 16 of the rotor blade 2 has a value of0°. Elements corresponding to elements of the second embodiment will bedesignated with the same reference numerals and will not be describedagain to avoid repetition.

FIG. 5 schematically shows a part of an inventive wind turbine rotorblade 2.

The rotor blade 2 comprises an anemometer 3 which measures the windspeed along the direction indicated by an arrow 15. In this embodimentthe direction of the measured wind speed 15 is parallel to thecentreline 16 of the wind turbine rotor blade 2. This means that theangle β between the centreline 16 and the anemometer 3 has a value of 0°and only the radial component u_(r) of the wind speed in the rotor planeis measured. In this case the above equation can be simplified tou_(r)=wαsinθ. This has the advantage that the angular velocity ω and thedistance r of the anemometer 3 to the rotor hub do not need to be known.

Besides the different angle β, all other features and characteristics ofthe inventive method and the inventive wind turbine are equivalent tothe features already described in the first embodiment, especially inthe context of the description of FIGS. 1 and 2.

In summary, the inventive method for yaw control and the inventive windturbine allow a precise yawing based on a measurement of the wind speedin the rotor plane at a rotor blade because the influence of turbulence,which typically occurs near the rotor axis or at the downwind side ofthe rotor plane, is avoided.

1. A method for yaw control for a wind turbine having a rotor and aplurality of rotor blades, comprising: measuring an ambient wind speed;measuring a periodic variation of wind speed in a rotor plane during arotation period of the rotor, the rotor defining a rotor axis and therotor plane to which the rotor axis is perpendicular; and turning therotor axis as to minimise the yaw angle error between ambient winddirection and the rotor axis, the turning based on the measured speed.2. The method as claimed in claim 1, wherein the measured wind speed isthe speed of the relative wind in the rotation direction of at least onerotor blade.
 3. The method as claimed in claim 1, wherein the directionin which the rotor axis is to be turned is determined from the phase ofthe periodic variation relative to the azimuth of the rotor.
 4. Themethod as claimed in claim 1, wherein the turning of the rotor axis isperformed based on a measurement of the ambient wind speed and the speedof the relative wind in the rotor plane, and wherein the ambient windspeed is measured at the rotor axis, at a turbine nacelle, at a windturbine rotor blade or at a separate tower.
 5. The method as claimed inclaim 1, wherein the turning of the rotor axis is performed based on ameasurement of the ambient wind speed and the speed of the relative windin the rotor plane, and wherein an anemometer is used to measure thespeed of the relative wind in the rotor plane and the distance of theused anemometer from the rotor axis, and wherein the angle of theanemometer to the centreline of the rotor blade, the azimuth angle ofthe anemometer, the ambient wind speed, the speed of the relative windin the rotor plane and the angular velocity of the rotor are consideredin performing the turning of the rotor.
 6. The method as claimed inclaim 1, wherein at least one measurement from the group selected fromspeed of the relative wind in the rotor plane, ambient wind speed, theazimuth angle of the anemometer, and angular velocity of the rotor iscontinuously measured.
 7. The method as claimed in claim 1, wherein atleast one measurement from the group selected from speed of the relativewind in the rotor plane, ambient wind speed, the azimuth angle of theanemometer, and angular velocity of the rotor is periodically measuredat time intervals.
 8. A wind turbine, comprising: a rotor having a rotoraxis and a rotor plane perpendicular to the rotor axis; a bladeconnected to the rotor; a plurality of anemometers located at the rotorblade at different radii, the anemometers configured to measure a windspeed in the rotor plane; and a controller configured to control turninga rotor axis, based on the measured speed, as to minimise a yaw angleerror between an ambient wind direction and the rotor axis.
 9. The windturbine as claimed in claim 8, wherein at least one of the plurality ofanemometers is a single-, a two- or a three-axis anemometer.
 10. Thewind turbine as claimed in claim 8, wherein at least one of theplurality of anemometers is a pitot tube, a cup anemometer or anultrasonic anemometer.
 11. The wind turbine as claimed in claim 8,further comprising a plurality of rotor blades; wherein each rotor bladeis equipped with at least one anemometer for measuring the wind speed inthe rotor plane.
 12. The wind turbine as claimed in claim 8, furthercomprising an anemometer located such as to allow for a measurement ofthe ambient wind speed.